MoBile Robotic PlAtforms for ACtive InspeCtion and Harvesting in AgricUltural AreaS

Informations projet

BACCHUS

N° de convention de subvention: 871704

DOI 10.3030/871704

Projet clôturé

Date de signature de la CE 5 Decembre 2019

Date de début 1 Janvier 2020

Date de fin 30 Novembre 2023

Financé au titre de

• INDUSTRIAL LEADERSHIP - Leadership in enabling and industrial technologies - Information and Communication Technologies (ICT)

Coût total € 5 104 943,75

Contribution de l’UE € 5 104 943,75

Coordonné par

ARISTOTELIO PANEPISTIMIO THESSALONIKIS
Greece

Livrables

Documents, reports (13)

Website and Social Media Presence Launch
Design and Development of reaching controller (Final)

Final version of Design and Development of reaching controller

BACCHUS Dual-arm controller for processing, and pick and place operations (Final)

Final version of BACCHUS Dualarm controller for processing and pick and place operations

Target approaching and active inspection (Final)

Final version of Target approaching and active inspection

Navigation Data processing and sensor fusion (Final)

Final version of Navigation Data processing and sensor fusion

BACCHUS system architecture (Final)

Final version

BACCHUS User requirements (Final)

Final version

BACCHUS Use Cases (Final)

Final version

Design and Development of Unveiling controller (Final)

Final version of Design and Development of Unveiling controller

Operation planning module (Final)

Final version of operation planning module

3D visualization system (Final)

Final version of 3D visualization system

Design and Development of Bimanual reaching controller (Final)

Final version of Design and Development of Bimanual reaching controller

Report on the analysis of SoA, existing and past projects/initiatives

Detailed report, including market analysis in respect future flexible manufacturing challenges, applications & ecosystems

Publications

Conference proceedings (29)

Pick-and-place in dynamic environments with a mobile dual-arm robot equipped with distributed distance sensors

Auteurs: Stavridis, Sotiris; Falco, Pietro; Doulgeri, Zoe
Publié dans: HUMANOIDS, Numéro 3, 2021
Éditeur: IEEE
DOI: 10.1109/humanoids47582.2021.9555672

A controller for reaching and unveiling a partially occluded object of interest with an eye-in-hand robot

Auteurs: Papageorgiou Dimitrios; Koutras Leonidas; Doulgeri Zoe
Publié dans: 2022
Éditeur: IEEE
DOI: 10.5281/zenodo.7128778

Anisotropic Diffusion-Based Enhancement of Scene Segmentation with Instance Labels

Auteurs: Kleitsiotis, Ioannis; Mariolis, Ioannis; Giakoumis, Dimitrios; Likothanassis, Spiridon; Tzovaras, Dimitrios;
Publié dans: The 19th International Conference on Computer Analysis of Images and Patterns (CAIP),, 2021
Éditeur: -
DOI: 10.5281/zenodo.5266712

Kinesthetic teaching of bi-manual tasks with known relative constraints

Auteurs: Sotiris Stavridis; Dimitrios Papageorgiou; Zoe Doulgeri
Publié dans: 2022
Éditeur: IEEE
DOI: 10.5281/zenodo.7223480

Collection and Evaluation of a Long-Term 4D Agri-Robotic Dataset

Auteurs: Polvara, Riccardo; Molina, Sergi; Hroob, Ibrahim; Cielniak, Grzegorz; Hanheide, Marc
Publié dans: 2022
Éditeur: -
DOI: 10.5281/zenodo.7135175

A real-time approach system for vineyards intra-row weed detection

Auteurs: Vasileios Moysiadis; Dimitrios Kateris; Dimitrios Katikaridis; Giorgos Vasileiadis; Vasileios Kolorizos; Aristotelis C. Tagarakis; Dionysis Bochtis
Publié dans: 2022
Éditeur: -
DOI: 10.5281/zenodo.7123776

Bimanual crop manipulation for human-inspired robotic harvesting

Auteurs: Stavridis, Sotiris; Papageorgiou, Dimitrios; Droukas, Leonidas; Doulgeri, Zoe
Publié dans: Numéro 1, 2023
Éditeur: -
DOI: 10.48550/arxiv.2209.06074

Split Deep Q-Learning for Robust Object Singulation *

Auteurs: Iason Sarantopoulos, Marios Kiatos, Zoe Doulgeri, Sotiris Malassiotis
Publié dans: 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020, Page(s) 6225-6231, ISBN 978-1-7281-7395-5
Éditeur: IEEE
DOI: 10.1109/icra40945.2020.9196647

In situ hyperspectral imaging for estimation of wine grape ripeness using attention-based convolutional neural networks

Auteurs: Nikolaos Tsakiridis; Eleni Kalopesa; Nikiforos Samarinas; George Zalidis; Nikolaos Tziolas
Publié dans: Numéro 3, 2023
Éditeur: -
DOI: 10.5281/zenodo.7950241

An integrated weed detection system in vineyards

Auteurs: Moysiadis, Vasileios; Katikaridis, Dimitrios; Kateris, Dimitrios; Bochtis, Dionysis
Publié dans: Numéro 2, 2022
Éditeur: -
DOI: 10.5281/zenodo.10548145

Prescribed Performance Regulation in the presence of Unknown Time-Varying Delays

Auteurs: Bikas, Lampros; Rovithakis, George
Publié dans: 2022
Éditeur: IFAC
DOI: 10.5281/zenodo.7138570

Improving Safety in Human-Robot Collaboration via Dynamic Active Constraints Enforcement *

Auteurs: George S. Kanakis, George A. Rovithakis
Publié dans: 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), 2021, Page(s) 515-519, ISBN 978-1-6654-0492-1
Éditeur: IEEE
DOI: 10.1109/ro-man50785.2021.9515497

Autonomous UGV-based weed detection system for vineyards

Auteurs: Dimitrios Kateris; Damianos Kalaitzidis; Vasileios Moysiadis; Dimitrios Katikaridis; Aristotelis C. Tagarakis; Dionysis Bochtis;
Publié dans: EFITA 2021, Digital Agriculture Web Conference (EFITA 2021), 2021
Éditeur: -
DOI: 10.5281/zenodo.5286423

UAV-assisted topological mapping for AGV navigation in vineyards

Auteurs: Molina, Sergi; Cielniak, Grzegorz; Hanheide, Marc
Publié dans: 2022
Éditeur: -
DOI: 10.5281/zenodo.7135167

On Visual Servoing under Field-of-View Limits and Impulsive Perturbations

Auteurs: Rovithakis, George; Kechagias, Andreas
Publié dans: Numéro 1, 2023
Éditeur: ECC
DOI: 10.23919/ECC57647.2023.10178365

Improved Reinforcement Learning Pushing Policies via Heuristic Rules

Auteurs: Kiatos, Marios; Sarantopoulos, Iason; Malassiotis, Sotiris; Doulgeri, Zoe
Publié dans: Numéro 3, 2021
Éditeur: -
DOI: 10.48550/arxiv.2111.11156

Achieving Prescribed Performance for Uncertain Impulsive Systems in Brunovsky Canonical Form

Auteurs: Kechagias, Andreas; Rovithakis, George
Publié dans: Numéro 1, 2023
Éditeur: IEEE
DOI: 10.1109/MED59994.2023.10185769

Non-destructive estimation of grape ripeness in Syrah variety via VNIR–SWIR spectroscopy

Auteurs: Nikiforos Samarinas; Nikolaos Tsakiridis; Nikolaos Tziolas; Eleni Kalopesa; Konstantinos Karyotis; Dionysis Bochtis; George Zalidis; Zoe Doulgeri;
Publié dans: EFITA 2021, Digital Agriculture Web Conference (EFITA 2021), 2021
Éditeur: -
DOI: 10.5281/zenodo.5266375

Learned Long-Term Stability Scan Filtering for Robust Robot Localisation in Continuously Changing Environments

Auteurs: Hroob, Ibrahim; Molina, Sergi; Polvara, Riccardo; Cielniak, Grzegorz; Hanheide, Marc
Publié dans: Numéro 6, 2023
Éditeur: -
DOI: 10.1109/ECMR59166.2023.10256419

LTS-NET: End-to-end Unsupervised Learning of Long-Term 3D Stable objects

Auteurs: Hroob, Ibrahim; Molina, Sergi; Polvara, Riccardo; Cielniak, Grzegorz; Hanheide, Marc
Publié dans: Numéro 3, 2023
Éditeur: -
DOI: 10.48550/arxiv.2301.03426

From RGB images to Dynamic Movement Primitives for planar tasks

Auteurs: Sidiropoulos, Antonis; Doulgeri, Zoe
Publié dans: Numéro 1, 2023
Éditeur: IEEE
DOI: 10.48550/arxiv.2303.03204

Achieving Prescribed Performance for Euler-Lagrange Systems with Impulsive Behaviour

Auteurs: Kechagias, Andreas; Rovithakis, George
Publié dans: 2022
Éditeur: IEEE
DOI: 10.5281/zenodo.6912777

Pick-and-place in dynamic environments with a mobile dual-arm robot equipped with distributed distance sensors

Auteurs: Sotiris Stavridis; Pietro Falco; Zoe Doulgeri
Publié dans: Humanoids 2021, 2021
Éditeur: -
DOI: 10.5281/zenodo.5163236

TS-Rep: Time series representation learning in robotics using self-supervised contrastive learning

Auteurs: Somaiya, Pratik; Pandya, Harit; Polvara, Riccardo; Hanheide, Marc; Cielniak, Grzegorz
Publié dans: 2022
Éditeur: -
DOI: 10.5281/zenodo.7135205

Exponential stability of trajectory tracking control in the orientation space utilizing unit quaternions

Auteurs: Koutras Leonidas; Doulgeri Zoe
Publié dans: 2021
Éditeur: IEEE
DOI: 10.5281/zenodo.5535870

Navigate-and-Seek: A Robotics Framework for People Localization in Agricultural Environments

Auteurs: Riccardo Polvara; Francesco Del Duchetto; Gerhard Neumann; Marc Hanheide
Publié dans: Numéro 6, 2021
Éditeur: -
DOI: 10.1109/lra.2021.3094557

Towards Agri-KITTI: a 4D Dataset for Phenotyping and Simultaneous Localization and Mapping in Agricultural Applications

Auteurs: Polvara, Riccardo; Molina, Sergi; Tsiolis, Konstantinos; Papadimitriou, Alexios; Mariolis, Ioannis; Giakoumis, Dimitrios; Tzovaras, Dimitrios; Cielniak, Grzegorz; Hanheide, Marc
Publié dans: 2022
Éditeur: -
DOI: 10.5281/zenodo.7135191

Loop Closure Detection and SLAM in Vineyards with Deep Semantic Cues

Auteurs: Alexios Papadimitriou; Ioannis Kleitsiotis; Ioannis Kostavelis; Ioannis Mariolis; Dimitrios Giakoumis; Spiriden Likothanassis; Dimitrios Tzovaras
Publié dans: Crossref, Numéro 5, 2022
Éditeur: IEEE
DOI: 10.1109/icra46639.2022.9812419

Benchmark of visual and 3D lidar SLAM systems in simulation environment for vineyards

Auteurs: Hroob, Ibrahim; Polvara, Riccardo; Molina, Sergi; Cielniak, Grzegorz; Hanheide, Marc
Publié dans: 2022
Éditeur: -
DOI: 10.5281/zenodo.5184874

Peer reviewed articles (8)

Bacchus Long‐Term (BLT) data set: Acquisition of the agricultural multimodal BLT data set with automated robot deployment

Auteurs: Polvara, Riccardo; Molina, Sergi; Hroob, Ibrahim; Papadimitriou, Alexios; Tsiolis, Konstantinos; Giakoumis, Dimitrios; Likothanassis, Spiridon; Tzovaras, Dimitrios; Cielniak, Grzegorz; Hanheide, Marc
Publié dans: Journal of Field Robotics, Numéro 3, 2022, ISSN 1556-4959
Éditeur: John Wiley & Sons Ltd.
DOI: 10.1002/rob.22228

An Overview of Cooperative Robotics in Agriculture

Auteurs: Chris Lytridis; Vassilis G. Kaburlasos; Theodore Pachidis; Michalis Manios; Eleni Vrochidou; Theofanis Kalampokas; Stamatis Chatzistamatis
Publié dans: Agronomy, Vol 11, Iss 1818, p 1818 (2021), Numéro 3, 2021, ISSN 2073-4395
Éditeur: MDPI
DOI: 10.3390/agronomy11091818

Learning Push-Grasping in Dense Clutter

Auteurs: Marios Kiatos; Iason Sarantopoulos; Leonidas Koutras; Sotiris Malassiotis; Zoe Doulgeri
Publié dans: Crossref, Numéro 1, 2022, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2022.3188437

A Survey of Robotic Harvesting Systems and Enabling Technologies

Auteurs: Leonidas Droukas; Zoe Doulgeri; Nikolaos L. Tsakiridis; Dimitra Triantafyllou; Ioannis Kleitsiotis; Ioannis Mariolis; Dimitrios Giakoumis; Dimitrios Tzovaras; Dimitrios Kateris; Dionysis Bochtis
Publié dans: Crossref, Numéro 6, 2023, ISSN 0921-0296
Éditeur: Kluwer Academic Publishers
DOI: 10.1007/s10846-022-01793-z

Estimation of Sugar Content in Wine Grapes via In Situ VNIR–SWIR Point Spectroscopy Using Explainable Artificial Intelligence Techniques

Auteurs: Eleni Kalopesa; Konstantinos Karyotis; Nikolaos Tziolas; Nikolaos Tsakiridis; Nikiforos Samarinas; George Zalidis
Publié dans: Sensors; Volume 23; Numéro 3; Pages: 1065, Numéro 3, 2023, ISSN 1424-8220
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23031065

Total Singulation With Modular Reinforcement Learning

Auteurs: Iason Sarantopoulos, Marios Kiatos, Zoe Doulgeri, Sotiris Malassiotis
Publié dans: IEEE Robotics and Automation Letters, Numéro 6/2, 2021, Page(s) 4117-4124, ISSN 2377-3766
Éditeur: ΙΕΕΕ
DOI: 10.1109/lra.2021.3062295

In situ grape ripeness estimation via hyperspectral imaging and deep autoencoders

Auteurs: Tsakiridis, Nikolaos; Samarinas, Nikiforos; Kokkas, Stylianos; Kalopesa, Eleni; Tziolas, Nikolaos; Zalidis, George
Publié dans: Computers and Electronics in Agriculture, Numéro 3, 2023, ISSN 0168-1699
Éditeur: Elsevier BV
DOI: 10.1016/j.compag.2023.108098

Rapid Determination of Wine Grape Maturity Level from pH, Titratable Acidity, and Sugar Content Using Non-Destructive In Situ Infrared Spectroscopy and Multi-Head Attention Convolutional Neural Networks

Auteurs: Eleni Kalopesa; Theodoros Gkrimpizis; Nikiforos Samarinas; Nikolaos L. Tsakiridis; George C. Zalidis
Publié dans: Crossref, Numéro 2, 2023, ISSN 1424-8220
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23239536